The linear motion of an industrial robot refers to the linear motion of the tool TCP mounted on the flange of the sixth axis of the robot in space. The coordinate linear motion should specify the coordinate system, tool coordinates, and workpiece coordinates. Coordinate systems include earth coordinates, datum coordinates, tool coordinates, and workpiece coordinates. Tool coordinates specified: TCP specifies the orientation of the coordinate system in which TCP operates. Workpiece Coordinate Assignment TCP When the workpiece coordinates are selected in the coordinate system, the workpiece coordinates are effective. What are the manual operation methods of industrial robots?
Process 1: Click on the manual operation in the drop-down menu of the ABB main menu
Please do not wear gloves to operate the education board and operation panel. When clicking to operate a robot, use a lower multiplication speed to add robot manipulation opportunities. Before pressing the click button on the teaching board, consider the robot's movement trend. Consider in advance to prevent the movement of the robot and ensure that the line is not disturbed.
Step 2: Click on the action form and pick the linear form.
Before you get started, it's important to understand all the tasks that the robot will perform according to the programmed program. What we need to know is the orientation and condition of all switches, sensors and control signals that affect the robot's movement. It is necessary to know the orientation of the emergency stop buttons on the robot manipulator and peripheral control equipment and be prepared to press these buttons in case of urgency. Never assume that the robot has completed a program that won't move. Since the robot may be waiting for an input signal, let it continue moving.
Step 3: Select the tool coordinate system "tool0"
There are more welding robots than stacking robots: the wire move key: the wire "+" enables the wire to be sent through the torch to send the wire "–", which enables the wire to be pulled back through the torch. WELDENBL key: Use this key to manipulate whether the welding process has started or not when operating the program.
Process 4: Press the enable button with your left hand to enter the "Motor On" situation.
Operate the lever and tool coordinates TCP on the teach pendant and click on the linear motion space. The direction of the X, Y, and Z arrows of the stick direction bar indicates the positive direction in which each axis is moving.
What are the forms of movement included in manual operation of industrial robots? There are three forms of manually operated robot motion: single-axis motion, linear motion, and de novo positioning motion. Before manual operation, it is necessary to turn the operating mode gear to manual deceleration mode. Here's how to manually operate the robot to perform these three actions. When performing linear and de novo positioning movements, it is necessary to first calibrate the robot, but in both calibrated and uncalibrated cases, joint movement is able to move the robot.
The uniaxial motion of a robot is also known as joint motion. The robot body consists of multiple joint axes (degrees of freedom). Each joint axis consists of servo motors, encoders, brakes, and other components. The single-axis movement here is to independently control these axes of the robot. Menu - > manual operation - > to select 1-3 axes or 4-6 axes in the form of motion - > operate the mobile robot according to the joystick direction icon.
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KUKA robot reports KSS15101 fault maintenance analysis
Fault Symptom:
After the robot is turned on, the teach pendant shows KSS15101 fault code (the safety device is wrong in 5 safety nodes from 0 to 4 channels), and the robot cannot be put into operation normally.
Fault Detection:
First inspect the site ...
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Key components of industrial robots - KUKA robots
1. High-precision reducer
Fine reducer, in the field of mechanical transmission is the central equipment between the power source and the executive organization, usually it puts the power of high-speed operation such as electric motor and internal combustion engine through the pinion on the input shaft and meshes the large gear on the output shaft, so as to reduce the ...
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KUKA robots are processed in the form of motion axes
The boundary of robot operation is to move parts and things in space through a certain organization, and the needs naturally represent the position and posture of the parts, things, and the organization itself. In order to delimit and apply the mathematical quantities that represent potentials, it is necessary to delimit the coordinate system and give the rules of representation.
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Enjoy a drink at the fully automated robot bar – the KUKA robot
KR CYBERTECH IS THE WORLD'S FIRST ROBOT BAR
BAIER Engineering GmbH has developed the world's first fully automated bar with the help of a bar robot, which is in collaboration with the University of Aalen (Hochschule Aalen) and the beverage industry.
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Classification of KUKA robot models and types
General industrial robots are classified according to centralized standards:
1. Classification according to the number of axes. according to
2. Classification according to the application scenario. For example: welding, palletizing, etc.
Let's talk about KUKA machine in the early years ...
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KUKA robot force error and control compensation
The production of high-end equipment shows the concave and convex of a country's comprehensive national strength. At present, China is vigorously developing a series of major projects such as high-speed rail technology, large aircraft projects, nuclear energy projects, aerospace projects, etc., and has made remarkable achievements. These items all have the same characteristic, which is the relative accuracy ...
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Maintenance work on KUKA robots
KUKA robot maintenance is to ensure the normal operation of KUKA robots to the greatest extent, and the maintenance of KUKA KUKA robots generally needs to be carried out after 10,000 hours of operation, especially for KUKA robots that work at the load limit or operating limit for a long time under harsh conditions.
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KUKA robot teach pendant panel
1. Hot-swap button for the cable of the robot teach pendant (after pressing this button, the control cabinet can unplug the teach pendant without shutting down).
2. Connect the manager key switch; Switch the mode of movement, T1: manual low speed (as long as the manual mobile robot is capable in this form, * high speed 250mm/s), T2: manual ...
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Theory of KUKA robot variables
Theoretical part about variables:
1. When a KUKA robot is programmed with KRL, a variable is a container of calculated values ("values") that are presented during the operation of the robot process in the ordinary sense.
3. Each variable is ...
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KUKA robot startup steps
Process 1: In the T1 form, the user program is pierced into cell.src according to the control requirements, the Cell.src program is selected, and the robot operation mode is switched to ExT_ AUTO.
Process 2, under the condition that there is no error in the robot system, PLC-. Powering up, it's going to announce to the robot Smove_ en ...
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KUKA Industrial Robot Fault Diagnosis and Maintenance Method
Don't panic when there is a problem with the robot during the operation, if the problem is not caused by the controller, then the cause of the problem must be the damage to the machine parts. In order to deal with the problem as quickly as possible and in the simplest possible way, the problem should be analysed. And the need to find out which part is the lead ...
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Advantages of KUKA robots
1. KUKA robot adopts all-aluminum structure with high strength, so the load is large, and the load can reach 1000kg.
2. KUKA six axes have completed the rapid electric ...
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KUKA palletizing robot operation specifications
KUKA palletizing robot operation specifications
All prerequisites
Before using this equipment, wear labor protection articles as required;
Check the equipment according to the checklist, understand the status of the equipment, and make corresponding records;
Check if water, electricity, gas, etc. are turned on ...
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Principles of industrial robot selection
In the process of using industrial robots, the robot body is usually selected to meet the use conditions, and the end actuator is customized for different occupations and environments.
Regarding the selection of the robot body, the primary selection principle is: useful load, use of ...
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KUKA robots automate the assembly process
1. Place the nut
Clamp the quad or hex nut and place it in the fixture
2. Thread sizing
Grab the screw and assist it to complete the "180-degree turn" action; Apply an appropriate amount of sealant to the thread on its underside
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Handling robot classification - KUKA robots
The transfer robot is a manipulator in practical work, and the manipulator is developed because its positive role is increasingly known:
First, it can partially replace manual operation;
Second, it can follow the requirements of the production process, follow the certain procedures, time...
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Interference intervals for KUKA robot programming
Robots at the same station, in the process of operation, need to enter the same area, but there is no strict restriction on the order of entry, a robot (Master) has the right of priority, that is, the robot first enters the dry and area, and another robot (Slave) after the operation is completed...
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Precautions for KUKA robots in hazardous environments
1. Precautions when repairing KUKA robots
(1) It is necessary for the owners and operators of KUKA robots to be responsible for their own safety. KUKA is not responsible for the safety of the operation of the machine. KUKA prompts the user when using KUKA ...
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Classification of industrial robot resolution
The resolution of an industrial robot generally refers to the minimum positioning capability of the robot's end actuator in three spatial directions, usually expressed in millimeters or microns. It reflects the accuracy requirements of the industrial robot control system for the orientation and movement of the robot, and is an important measure of the functional advantages and disadvantages of industrial robots.
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KUKA robot control cabinet maintenance
1. Disconnect all power supply from the control cabinet.
2. View the motherboard, storage board, accounting board, and driver board.
3. Check that there is no debris and dust in the cabinet, check the sealing, and clean the appearance of the robot control cabinet.
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